Excavator control method and device, excavator, medium and product: Fid-Bau Portal

Excavator control method and device, excavator, medium and product

GONG PEIHAO / LI DADING / CHU HAIJUN

The invention relates to the technical field of excavator control, and discloses an excavator control method and device, an excavator, a medium and a product. Generating an initial electronic fence according to the excavator envelope point and the excavator position; an obstacle in the initial electronic fence is scanned, and a cubic envelope frame of the obstacle is created; updating the initial electronic fence according to the height of the cubic envelope frame and the maximum working height of the excavator to obtain an irregular electronic fence; in the process of controlling the excavator to work, when it is detected that the distance between the excavator and the irregular electronic fence is smaller than a preset distance threshold value, the excavator is stopped from continuing working in the current working direction. The problem that the electronic fence excessively limits the excavator to reach the working space is solved.

本发明涉及挖掘机控制技术领域，公开了一种挖掘机控制方法、装置、挖掘机、介质及产品，方法包括：确定挖掘机的挖机包络点和挖机位置；根据挖机包络点和挖机位置生成初始电子围栏；扫描初始电子围栏内的障碍物，并创建障碍物的立方体包络框；根据立方体包络框的高度和挖掘机的最大工作高度对初始电子围栏进行更新，得到不规则电子围栏；在控制挖掘机作业过程中，当检测到挖掘机和不规则电子围栏的距离小于预设距离阈值时，停止挖掘机沿当前作业方向继续作业。本发明解决了电子围栏过渡限制挖掘机可到达工作空间的问题。

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